Screen LibraryTask-space separation principle : from human postural synergies to bio-inspired motion planning for redundant manipulators /
This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Prin...
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| Main Authors: | |
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| Published: |
Springer,
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| Publisher Address: | Singapore : |
| Publication Dates: | 2019. |
| Literature type: | Book |
| Language: | English |
| Series: |
Springer theses,
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| Subjects: | |
| Summary: |
This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a "Task-space Separation Principle," a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expand |
| Item Description: | "Doctoral thesis accepted by the Nanyang Technological University, Singapore." |
| Carrier Form: | xvii, 105 pages : illustrations (some color) ; 24 cm. |
| Bibliography: | Includes bibliographical references. |
| ISBN: |
9789811303524 9811303525 |
| Index Number: | QA841 |
| CLC: | O311 |
| Call Number: | O311/T661 |
| Contents: | Introduction -- Background: Posture, Movement & Redundancy -- Task-Space Separation Principle: A Force Field Approach to Posture and Movement Planning for Redundant Manipulators -- Capturing Human-Like Postural Kinematic Synergies Via Non-Linear Inverse Optimization -- Assessment of Postural Muscular Synergies -- Effects of Mechanical Impedance (Joint Stiffness And Damping) on Wrist Movement -- Conclusion and Outlook. |